Dynamic modeling and fuzzy control of water strider robot

摘要

To make water strider robot (WSR) walk on the water, the robot's dynamics modeling and control algorithms are discussed in the paper. The dynamics equations of WSR and dynamics equations concerning the actuator (motor) are established. Considering the motion's non-holonomic feature of the WSR, and inaccurate equations themselves, a fuzzy control method is applied in the paper. After calibration of the sensor, on the basis of fitting motor voltage and rotation speed, a fuzzy controller is developed to allow the robot approaching the light source target and tracking the trajectory of the target. Finally Matlab/Simulink is used to simulate autonomous motion of water strider robot. Simulation results show the effectiveness and accuracy of the approach.